Hazardous Environment Robotics
Deneb Robotics, Inc., Auburn Hills, Michigan is an internationally
known leader in 3D graphics-based factory simulation, telerobotics
and virtual reality software used widely in the aerospace, automotive,
defense, environmental, medical, nuclear and research communities.
Dr. Won Soo Kim, TELEGRIP inventor, remotely operates a robot.
Among the company's broad software product line is TELEGRIP
(TELEGRIP is a trademark of Deneb Robotics, Inc.), which provides
a 3D graphical interface for previewing, interactive programming
and real-time bilateral control of remote robotic devices. It
provides operators a system for safe, quick and efficient remediation
of hazardous environments from a single point of control and
input that is isolated from virtually all operator hazards.
Accurate 3D kinematic models of the robot and work space components
allow the operator to preplan and optimize robot trajectories
before the program is automatically generated. TELEGRIP can verify
all geometries and dynamically update the model to adjust the
environment in real-time. Control commands are monitored when
running in autonomous, teleoperational or shared control modes
to assure procedural safety.
A key feature of TELEGRIP is a Video Overlay Option that utilizes
video to calibrate 3D computer models with the actual environment.
The video overlay technique is especially useful for on-line
planning applications or teleoperations in remote, hazardous
or complex environments such as space, undersea or nuclear sites.
In such environments specific conditions may be unknown, or they
may change suddenly while robotic operations are in progress;
the advanced control capabilities provided by TELEGRIP enable
ready adjustment to change.
A video camera provides a Deneb engineer with a view of the
robot.
The Video Overlay Option is the result of a technology sharing
agreement with NASA's Jet Propulsion Laboratory (JPL). JPL developed
a virtual reality calibration technique for reliable and accurate
matching of a graphically-simulated environment in 3D geometry
with actual video camera views. The system was designed for predictive
displays with calibrated graphics that overlay in live video
for telerobotics applications, for example, the system allows
an operator to designate precise movements of a robot arm before
sending the command to execute.
Following successful test of the video overlay techniques,
JPL concluded a technology cooperation agreement with Deneb Robotics
that allows the company to integrate Video Overlay into the commercially
available TELEGRIP to expand its utility in hazardous environment
robotics.
By selecting critical control points of reference, the operator
and robot create the robot's work cell movement paths.
The operator can view the video image of the real world
environment
(upper right) and the computer's interpretation of
the same scene
using TELEGRIP.
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